Title: Consistent pose uncertainty estimation for spherical cameras
Authors: Krolla, Bernd
Gava, Christiano Couto
Pagani, Alain
Stricker, Didier
Citation: WSCG 2014: communication papers proceedings: 22nd International Conference in Central Europeon Computer Graphics, Visualization and Computer Visionin co-operation with EUROGRAPHICS Association, p. 153-160.
Issue Date: 2014
Publisher: Václav Skala - UNION Agency
Document type: konferenční příspěvek
URI: wscg.zcu.cz/WSCG2014/!!_2014-WSCG-Communication.pdf
ISBN: 978-80-86943-71-8
Keywords: počítačové vidění;3D rekonstrukce;sférické zobrazování;šíření nejistoty;šíření chyb;optimalizace postavení kamery;struktura z pohybu
Keywords in different language: computer vision;3D reconstruction;spherical imaging;uncertainty propagation;error propagation;camera pose optimization;structure from motion
Abstract in different language: In this work, we discuss and evaluate the reliability of first order uncertainty propagation results in context of spherical Structure from Motion, concluding that they are not valid without restrictions, but depend on the choice of the objective function. We furthermore show that the choice of the widely used geodesic error as objective function for a reprojection error optimization leads to disproportional pose uncertainty results of spherical cameras. This work identifies and outlines alternative objective functions to bypass those obstacles by deducing Jacobian matrices according to the chosen objective functions with subsequent conduction of first order uncertainty propagation. We evaluate the performance of the different objective functions in different optimization scenarios and show that best results for uncertainty propagation are obtained using the Euclidean distance to measure deviations of image points on the spherical image.
Rights: @ Václav Skala - UNION Agency
Appears in Collections:WSCG 2014: Communication Papers Proceedings

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